#include <Wire.h>
#include <SPI.h>
#include <ICM20948_WE.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <math.h>
#include <Arduino.h>
#include <WiFi.h>
#include <ESP32Servo.h>
#include <MCT8316ADriver.h>
#include"bsp_iic.h"
#include"MCT8316Reg.h"
#include "imu.h"
#include "wifi_task.h"
#include "fly_control.h"
static MCT8316A_Instance_s *MCT8316A_Instance = NULL;
MCT8316A_State_e state;
void setup() {
  Serial.begin(115200);
  delay(500);
 // motor_set();
  delay(500);
  iic_init();
  delay(500);
 // imu_init();
  delay(500);
  
  MCT8316A_Instance = MCT8316A_Init(&conf);
  delay(500);

 // wifi_set();
  delay(1000);
//   xTaskCreatePinnedToCore(acctask, "acctask", 1024 * 4, NULL, 1, NULL,1);
//   xTaskCreatePinnedToCore(gyrtask, "gyrtask", 1024 * 4, NULL, 1, NULL,1);
//   xTaskCreatePinnedToCore(solvetask, "solvetask", 1024 * 4, NULL, 3, NULL,1);
//   xTaskCreatePinnedToCore(wifitask, "wifitask", 1024 * 4, NULL, 1, NULL,1);
//  xTaskCreatePinnedToCore(vehicletask, "vehicletask", 1024 * 4, NULL, 1, NULL,1);

}

void loop() {
  // put your main code here, to run repeatedly:

}
